Rainbow Robotics RB Series, Руководство пользователя, Страница: 120 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
120
Linear Move Type’s sub Point
Option
Absolute
>Sets the Points for MoveL by using fixed, user
defined Cartesian coordinate values.
>After moving the robot's TCP, Cartesian coordinate
values through the Get function can be set
>Note: The default Cartesian coordinate system for
the Absolute Point Type is the base coordinate
system of the robot arm (manufacturer's default
coordinate system).
Variable
>Sets the Points for MoveL by using one of several
methods, and the target Cartesian coordinate value.
>After moving the robot’s TCP, Cartesian coordinate
values through the Get function can be set.
>The user can also change the TCP Point by setting it
to a variable or a mathematical operation.
Relative
>Sets the Points for MoveL by setting the relative
distance / offset from the previous Point.
>The user can also choose a user defined Reference
Point from which to move. The default value is
PT_LAST_TCP, which indicates the last arrival point.
>Through Reference Frame, the user can specify
which coordinate system to use for relative
movement. The default value is Frame_Base, which
represents the base coordinate system of the robot
arm. The user can make changes to the user
coordinate system or the tool's local coordinate
system.
>In addition, the user can set a point by using a
variable or a mathematical operation.
User
Coordinate
>Similar to Variable, but it sets a target point based on
a user-defined coordinate system.
>Enables the user to select the user coordinate
system as a reference by setting the Reference
Frame.
>Selects the desired reference coordinate system with
the Get function to automatically enter the robot's
pose / position information based on the selected
coordinate system.
>For example, if the user’s coordinate system ‘0’ is
selected and ‘0’ is entered in all Cartesian coordinate
values, TCP moves to the origin of the user coordinate
system.